CN106476923A - Rope climbing robot - Google Patents

Abstract

The invention discloses a rope-climbing robot, which includes a base, a rope-climbing assembly and a controller respectively installed on the base. The base is formed with an opening to accommodate the passage of a rope. The rope-climbing assembly has two sets of active friction wheels and drives of the active friction wheels. The motor and the two active friction wheels are arranged in parallel above the opening of the base, and the controller is connected to the drive motor for controlling the drive motor. The rope-climbing robot provided by the present invention has low cost, simple structure and strong practicability. It can be controlled through an Android smartphone. It has the characteristics of simple control process, flexible and stable rope climbing, etc. The camera it carries can achieve 180° on the vertical surface. It can rotate 360° on the horizontal plane to capture the external scene in all directions. It can be used for indoor logistics, express delivery, etc., and can also be used in dangerous operating environments such as high altitudes and deep wells. It has great application prospects and economic benefits.

Description

A rope climbing robot

technical field

The invention relates to the technical field of robots, in particular to a rope climbing robot.

Background technique

There are many types of robots, which can be divided into industrial robots, service robots and special robots according to the application environment. The rope climbing robot is a special robot. Its main function is to move along cables, wires, etc. in the air or in a dangerous working environment, and replace humans to complete tasks such as inspection, surveillance, photography, video recording, and delivery. The traditional fields of application of rope climbing robots include construction, electric power, field construction, etc. With the development of the times, film shooting, workshop logistics, express delivery, etc. have become new hot application fields of rope climbing robots.

But the existing rope-climbing robot is complex in structure, expensive, and not convenient enough to operate. A kind of rope-climbing robot such as the disclosed patent CN204659853 U, though this rope-climbing robot can carry out high-altitude transportation of heavy objects, the rope-climbing effect is not good and cannot carry out Shooting cannot be remotely controlled by mobile phones. Therefore, there is an urgent need in this field for a rope climbing robot with low cost, simple structure, good effect and controllable by mobile phones.

Contents of the invention

In order to solve the above technical problems, the present invention provides a rope-climbing robot that can be controlled by an Android smart phone. The rope-climbing robot has low cost and simple structure, can move efficiently and stably along the rope, and has a camera that can capture external scenes in all directions.

Concrete technical scheme of the present invention is as follows:

The rope climbing robot of the present invention includes a base and a climbing rope assembly and a controller respectively installed on the base, the base is formed with an opening for accommodating the passage of the rope, and the climbing rope assembly has two sets of active friction wheels and a A driving motor, the two active friction wheels are arranged in parallel above the opening of the base, and the controller is connected with the driving motor for controlling the driving motor.

As a further improvement of the present invention, the rope climbing robot also includes a camera assembly installed on the base, the camera assembly includes a camera, a camera installation device, a first circumference steering gear and a second circumference steering gear, the first circumference The steering gear is arranged on the side of the camera installation device for controlling the camera to rotate 180° on the vertical plane, and the second circular steering gear is arranged at the lower end of the camera installation device to control the camera to rotate 360° on the horizontal plane.

As a further improvement of the present invention, the rope climbing robot also includes an upper support, the upper support is arranged above the base in parallel through a pillar, the climbing rope assembly is arranged on the upper support, and the upper support and the base Openings are respectively formed to accommodate the passage of the rope and correspond to the upper and lower positions. The two active friction wheels are arranged in parallel above the opening of the upper support, and the driving motor is installed on the upper support through a motor bracket.

As a further improvement of the present invention, two sets of follower friction wheels and a support for follower friction wheels are arranged in parallel above the opening of the base, and the distance defined by the two follower friction wheels is the same as the distance defined by the two driving friction wheels. One said follower friction wheel is arranged orthogonally to two said driving friction wheels.

The two follow-up friction wheels are arranged orthogonally to the two driving friction wheels, which can prevent the robot from swinging along the circumferential direction of the rope.

As a further improvement of the present invention, a hook for hanging objects is also provided at the lower end of the base.

As a further improvement of the present invention, the camera installation device includes a turntable, a steering wheel, a steering gear support and a pan-tilt base. The camera is installed on the turntable, and the turntable and The rudder discs are connected, the first circumferential steering gear is arranged on the steering gear support screwed on the base of the platform, and a through hole is formed on the base, and the second circumferential steering gear is arranged in the through hole. The rotating shaft is inserted into the lower end of the base of the platform.

As a further improvement of the present invention, the steering gear support includes a mounting base plate and a side plate with a mounting through hole, the side plate is formed on the edge of the mounting base plate and integrally constructed with the mounting base plate, and the front end of the steering wheel passes through the mounting through hole It is connected with the rotating shaft of the first circular steering gear.

As a further improvement of the present invention, the turntable is an inverted "L"-shaped mounting plate, the lower inner surface of the turntable and the rear end surface of the steering wheel are screwed together, and the camera is installed on the upper outer surface of the turntable .

As a further improvement of the present invention, the controller is equipped with a wifi module for connecting to a wireless router, and the controller communicates with an Android mobile phone installed with a rope climbing robot control APP through the wifi module.

As a further improvement of the present invention, the rope climbing robot further includes a power supply device, the controller is connected to the climbing rope assembly and the camera assembly through the power supply device, and a switch is provided between the controller and the power supply device.

The rope climbing robot provided by the present invention has low cost, simple structure and strong practicability. It can be controlled by an Android smart phone. It has the characteristics of simple control process and flexible and stable climbing rope. Rotation, can rotate 360° on the horizontal plane, and capture the external scene in all directions. It can be used for indoor logistics, express delivery, etc., and can also be used in dangerous operating environments such as high altitudes and deep wells. It has very large application prospects and economic benefits.

Description of drawings

Below in conjunction with accompanying drawing and specific embodiment, the utility model is described in further detail:

Fig. 1 is the structural representation of the climbing rope robot of embodiment 1;

Fig. 2 is the structural representation of the climbing rope robot of embodiment 2;

Fig. 3 is the structural representation of the climbing rope robot described in embodiment 3;

FIG. 4 is a schematic structural view of the camera installation device described in Embodiment 4;

Fig. 5 is the schematic diagram of the control of the rope climbing robot described in embodiment 5;

Fig. 6 is the explosion diagram of the rope climbing robot described in embodiment 5;

Among them: 1. Base, 2. Upper support, 3. Climbing rope assembly, 5. Power supply device, 6. Controller, 8. Switch, 31. Active friction wheel, 32. Driving motor, 33. Motor bracket, 41, Camera, 42, turntable, 43, steering wheel, 44, steering gear support, 45, pan-tilt base, 46, first circular steering gear, 47, second circular steering gear, 48, camera mounting device, 71, follow-up friction Wheel, 72, support.

detailed description

Example 1

The present invention provides a rope-climbing robot. As shown in FIG. 1, the rope-climbing robot includes a base 1 and a rope-climbing assembly 3 and a controller 6 respectively installed on the base 1. The base 1 is formed with an opening for accommodating a rope. Rope climbing assembly 3 has two groups of active friction wheels 31 and drive motor 32 of active friction wheel 31, two active friction wheels 31 are arranged in parallel above the opening of base 1, and controller 6 is connected with drive motor 32 for controlling the drive motor 32.

When the two active friction wheels rotate clockwise and counterclockwise under the drive of the motor, the rope climbing robot moves forward along the rope. When the two active friction wheels rotate counterclockwise and clockwise under the drive of the motor, the rope climbing robot moves backward along the rope.

Example 2

The present invention provides a rope climbing robot. The rope climbing robot is different from Embodiment 1 in that, as shown in FIG. 2 , the rope climbing robot also includes a camera assembly installed on the base 1. 48. The first circumferential steering gear 46 and the second circumferential steering gear 47. The first circumferential steering gear 46 is arranged on the side of the camera mounting device 48, and is used to control the camera 41 to rotate 180° on the vertical plane. The second circumferential steering gear 47 It is arranged at the lower end of the camera installation device 48, and is used to control the rotation of the camera 41 on the horizontal plane by 360°.

Example 3

The present invention provides a rope-climbing robot. The difference between the rope-climbing robot and Embodiment 2 is that, as shown in FIG. The climbing rope assembly 3 is arranged on the upper support 2, and the upper support 2 and the base 1 are respectively formed with openings for accommodating the passage of the rope and corresponding up and down positions, and two driving friction wheels 31 are arranged in parallel above the opening of the upper support 2.

The driving motor 32 is installed on the upper support 2 through a motor bracket 33 .

Two sets of follower friction wheels 71 and brackets 72 for follower friction wheels 71 are arranged in parallel above the opening of the base 1. The distance defined by the two follower friction wheels 71 is the same as the distance defined by the two drive friction wheels 31. The two follower friction wheels 71 It is arranged orthogonally to the two driving friction wheels 31 .

The lower end of the base 1 is also provided with a hook for hanging articles.

When the rope climbing robot is connected to the rope, the two follower friction wheels and the circumference of the rope are in a compressed state, thereby ensuring frictional force between the rope and the follower friction wheel.

Example 4

The present invention provides a rope-climbing robot. The rope-climbing robot is different from Embodiment 3 in that, as shown in FIG. 41 is installed on the turntable 42, and the turntable 42 links to each other with the steering wheel 43 inserted on the rotation shaft of the first circumferential steering gear 46, and the first circumferential steering gear 46 is arranged on the steering gear support 44 screw-mounted on the platform base 45 Above, a through hole is formed on the base 1, and the second circumferential steering gear 47 is arranged in the through hole, and its rotating shaft is inserted into the lower end of the pan-tilt base 45 .

The steering gear support 44 includes an installation base plate and a side plate with an installation through hole. The side plate is formed on the edge of the installation base plate and is integrally constructed with the installation base plate.

The turntable 42 is an inverted "L" type mounting plate, and the inner surface under the turntable 42 and the rear end surface of the steering wheel 43 are screwed together, and the camera 41 is installed on the outer surface of the turntable 42.

Example 5

The present invention provides a rope-climbing robot. The rope-climbing robot is different from Embodiment 4 in that, on the basis of Embodiment 3, as shown in FIGS. 5 to 6 , the controller 6 is equipped with a wifi module for connecting to a wireless router. , the controller 6 communicates with the Android mobile phone installed with the rope climbing robot control APP through the wifi module.

Wherein, the rope climbing robot also includes a power supply device 5, the controller 6 is connected with the climbing rope assembly 3 and the camera assembly through the power supply device 5, and a switch 8 is also arranged between the controller 6 and the power supply device 5.

A wifi module is installed on the controller, so that the rope climbing robot can be connected to the wireless router. When the operator's Android mobile phone is also connected to the wireless network, the driving motor and camera can be realized through the climbing rope robot APP on the mobile phone. remote control, so as to remotely control the forward, backward and camera of the robot.

The above-mentioned embodiments are only descriptions of preferred implementations of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, those skilled in the art may make various modifications to the technical solutions of the present invention. and improvements, all should fall within the scope of protection determined by the claims of the present invention.

Claims (10)

1. A rope-climbing robot, comprising a base (1) and a rope-climbing assembly (3) and a controller (6) respectively mounted on the base (1), characterized in that the base (1) is formed with an accommodating rope Through the opening, the climbing rope assembly (3) has two groups of active friction wheels (31) and the driving motor (32) of the active friction wheels (31), and the two active friction wheels (31) are arranged in parallel on the Above the opening of the base (1), the controller (6) is connected to the drive motor (32) for controlling the drive motor (32). 2. according to the described rope climbing robot of claim 1, it is characterized in that, described rope climbing robot also comprises the camera assembly that is installed on the base (1), and described camera assembly includes camera (41), camera mounting device (48) , the first circumferential steering gear (46) and the second circumferential steering gear (47), the first circumferential steering gear (46) is arranged on the side of the camera installation device (48), for controlling the camera (41) in the vertical Rotate 180° on the straight surface, and the second circumferential steering gear (47) is arranged at the lower end of the camera installation device (48), and is used to control the 360° rotation of the camera (41) on the horizontal plane. 3. according to the described rope-climbing robot of claim 2, it is characterized in that, described rope-climbing robot also comprises upper bearing (2), and described upper bearing (2) is arranged on the top of base (1) by pillar in parallel, so The climbing rope assembly (3) is arranged on the upper support (2), and the upper support (2) and the base (1) are respectively formed with openings for accommodating the passage of the rope and corresponding to the upper and lower positions, and the two active friction wheels (31) is arranged in parallel above the opening of the upper support (2), and the drive motor (32) is installed on the upper support (2) through a motor bracket (33). 4. according to the described rope climbing robot of claim 3, it is characterized in that, the top of described base (1) opening is provided with two groups of follow-up friction wheels (71) and the support (72) of follow-up friction wheels (71) in parallel, two The distance defined by the two driven friction wheels (71) is the same as the distance defined by the two driving friction wheels (31), and the two driven friction wheels (71) are arranged orthogonally to the two driving friction wheels (31). . 5. The rope climbing robot according to claim 4, characterized in that, the lower end of the base (1) is also provided with a hook for hanging objects. 6. according to the described rope climbing robot of claim 5, it is characterized in that, described camera mounting device (48) comprises turntable (42), steering wheel (43), steering gear support (44) and platform base (45) The camera (41) is installed on the turntable (42), and the turntable (42) is connected to the steering wheel (43) inserted on the rotation shaft of the first circular steering gear (46). The steering gear (46) is arranged on the steering gear support (44) screwed on the platform base (45), the base (1) is formed with a through hole, and the second circumferential steering gear (47) is set In the through hole, its rotating shaft is inserted into the lower end of the platform base (45). 7. according to the described rope-climbing robot of claim 6, it is characterized in that, described steering gear support (44) comprises installation bottom plate and has the side plate of installation through hole, and described side plate is formed on the edge of installation bottom plate and installs bottom plate An integral structure, the front end of the steering wheel (43) is connected to the rotation shaft of the first circumferential steering gear (46) through the installation through hole. 8. according to the described rope climbing robot of claim 7, it is characterized in that, described turntable (42) is an upside-down " L " type mounting plate, described turntable (42) lower inner surface and described steering wheel (43) The rear end surfaces of the cameras are screwed together, and the camera (41) is installed on the outer surface of the turntable (42). 9. according to the described rope-climbing robot of claim 1, it is characterized in that, described controller (6) is equipped with the wifi module that is used to connect wireless router, and described controller (6) is controlled by wifi module and rope-climbing robot is installed The APP's Android mobile phone is connected to the communication. 10. according to the described rope climbing robot of claim 9, it is characterized in that, described rope climbing robot also comprises power supply unit (5), and described controller (6) passes power supply unit (5) and climbing rope assembly (3), The camera components are connected, and a switch (8) is also arranged between the controller (6) and the power supply (5).